/**
  ******************************************************************************
  * @file    main.c 
  * @author  MCD Application Team
  * @version V1.1.2
  * @date    14-August-2015
  * @brief Program configures triaxial magnetometer and accelerometer.  
	* This time to sensor configuration was used special prepared library from
	* LSM303DLH.c module. This module alow on faster sensor configuration. To configure sensor we have to
  * fill up all field of the configuration structure and execute configuration function.
	* Additionaly INT1 line was enabled. Thanks to them uC is informed about new data measured by sensor
	* ready to read.
  ******************************************************************************
  */


/* Includes ------------------------------------------------------------------*/
#include "stm32f30x.h"
#include "Led.h"
#include "Hardware.h"
#include "Delay.h"
#include "LSM303DLHC.h"
#include "Time.h"

/** @addtogroup STM32F30x_StdPeriph_Examples
  * @{
  */

/** @addtogroup Basic_example
  * @{
  */

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
unsigned char measurementData[6];
signed short rawData[3];
float accData[3];
float magData[3];

int mag_period;
/* Private function prototypes -----------------------------------------------*/
void I2c_Configuration(void);
/* Private functions ---------------------------------------------------------*/

/**
  * @brief  Main program.
  * @param  None
  * @retval None
  */
int main(void)
{
	LSM303DLHCAcc_InitTypeDef acc_init;
	LSM303DLHCMag_InitTypeDef mag_init;
  /*!< At this stage the microcontroller clock setting is already configured, 
       this is done through SystemInit() function which is called from startup
       file (startup_stm32f30x.s) before to branch to application main.
       To reconfigure the default setting of SystemInit() function, refer to
       system_stm32f30x.c file
     */
	/* configure basic modules, pins and clocks*/
  Hardware_Init();

	
	/* Time module initialisation */
	Time_Init();
  
	/* configure I2C1 port */
	I2c_Configuration();
	
	/* Accelerometer configuration */
	
	acc_init.AccFull_Scale=LSM303DLHC_FULLSCALE_16G;
	acc_init.AccOutput_DataRate=LSM303DLHC_ACC_ODR_200_HZ;
	acc_init.Axes_Enable=LSM303DLHC_AXES_ENABLE;
	acc_init.BlockData_Update=LSM303DLHC_BlockUpdate_Continous;
	acc_init.Endianness=LSM303DLHC_BLE_LSB;
	acc_init.High_Resolution=LSM303DLHC_HR_ENABLE;
	acc_init.Power_Mode=LSM303DLHC_NORMAL_MODE;
	
	LSM303DLHC_AccInit(&acc_init);
	//init INT1 line - on this line a high level will be set after the complete acc measurement
	LSM303DLHC_AccIT1Config(LSM303DLHC_IT1_DRY1,ENABLE);
	
	/* Magnetic sensor configuration */
	
	mag_init.MagFull_Scale=LSM303DLHC_FS_4_0_GA;
	mag_init.MagOutput_DataRate=LSM303DLHC_MAG_ODR_75_HZ;
	mag_init.Temperature_Sensor=LSM303DLHC_TEMPSENSOR_ENABLE;
	mag_init.Working_Mode=LSM303DLHC_CONTINUOS_CONVERSION;
	
	LSM303DLHC_MagInit(&mag_init);

  while(1)
  {
		//wait on high level on INT1 - PE4
		while(GPIO_ReadInputDataBit(GPIOE,GPIO_Pin_4)==0);
		//wait on sensor measurements
		mag_period=Time_GetPeriod();
		//wait 20mss - this value comes frome selected sampling frequency (50Hz) 
		//DelayUS(10000);
		//read acc data measurement
		LSM303DLHC_Read(0x32,0x28,&measurementData[0],6);
		//join two bytes to create short type variable
		rawData[0]=(signed short)measurementData[0]+(signed short)measurementData[1]*256;
		rawData[1]=(signed short)measurementData[2]+(signed short)measurementData[3]*256;
		rawData[2]=(signed short)measurementData[4]+(signed short)measurementData[5]*256;
		//scale measurements and express them in g units
		accData[0]=(float)rawData[0]*(float)0.012/16;
		accData[1]=(float)rawData[1]*(float)0.012/16;
		accData[2]=(float)rawData[2]*(float)0.012/16;
		
		//read mag data
		LSM303DLHC_Read(0x3C,0x03,&measurementData[0],6);
		//join two bytes to create short type variable
		rawData[0]=(signed short)measurementData[1]+(signed short)measurementData[0]*256;
		rawData[1]=(signed short)measurementData[3]+(signed short)measurementData[2]*256;
		rawData[2]=(signed short)measurementData[5]+(signed short)measurementData[4]*256;
		//scale measurements and express them in Gaus units
		magData[0]=(float)rawData[0]/LSM303DLHC_M_SENSITIVITY_XY_4Ga;
		magData[1]=(float)rawData[1]/LSM303DLHC_M_SENSITIVITY_XY_4Ga;
		magData[2]=(float)rawData[2]/LSM303DLHC_M_SENSITIVITY_Z_4Ga;
		
  }
}

void I2c_Configuration(void){
	I2C_InitTypeDef  I2C_InitStructure;
	  /* I2C configuration -------------------------------------------------------*/
  I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
  I2C_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
  I2C_InitStructure.I2C_DigitalFilter = 0x00;
  I2C_InitStructure.I2C_OwnAddress1 = 0x00;
  I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
  I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
  I2C_InitStructure.I2C_Timing = 0x00902025;
  
  /* Apply LSM303DLHC_I2C configuration after enabling it */
  I2C_Init(I2C1, &I2C_InitStructure);
  
  /* LSM303DLHC_I2C Peripheral Enable */
  I2C_Cmd(I2C1, ENABLE);
}
#ifdef  USE_FULL_ASSERT

/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t* file, uint32_t line)
{ 
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

  /* Infinite loop */
  while (1)
  {
  }
}
#endif